CN117484508A - Intelligent control system and method for multi-joint robot for loading and unloading - Google Patents
Intelligent control system and method for multi-joint robot for loading and unloading Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses an intelligent control system and method of a multi-joint robot for loading and unloading, and relates to the field of electric motion control. The method comprises the steps of obtaining a rotation angle combination of a mechanical joint group corresponding to the combination of each material preparation position point and each processing position point according to the space coordinates of the material preparation position point and the processing position point and the inverse kinematics of the connection structure of the mechanical joint group and the mechanical arm group of the robot; acquiring and analyzing a loading and unloading instruction to obtain a starting position and a stopping position; matching in the combination of a plurality of material preparation position points and processing position points according to the starting position and the ending position to obtain a combination of a target material preparation position point and a target processing position point and a target rotation angle combination of a corresponding mechanical joint group; the correction results in an execution rotation angle combination of the mechanical joint group from the start position to the end position. The invention gives consideration to the efficiency and flexibility of the control process.
Description
Technical Field
The invention belongs to the technical field of electric motion control, and particularly relates to an intelligent control system and method of a multi-joint robot for loading and unloading.
Background
In modern manufacturing industry, the multi-joint robot is widely applied to loading and unloading work so as to improve production efficiency and reduce manpower resource consumption. However, the conventional multi-joint robot control system is mainly suitable for point-to-point workpiece handling, and has poor adaptability to complex and variable production environments.
In the workpiece loading and unloading process, since the starting position and the ending position of workpiece conveying may not be strictly defined, the robot needs to be flexibly and dynamically adjusted according to the actual situation in the workpiece conveying process.
Disclosure of Invention
The invention aims to provide an intelligent control system and method of a multi-joint robot for loading and unloading, which can obtain the execution rotation angle combination from a starting position to a final position after simple and rapid correction by generating the rotation angle combination of a series of mechanical joint groups in advance, thereby taking the efficiency and the flexibility of the control process into consideration.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention provides an intelligent control method of a multi-joint robot for loading and unloading, which comprises the following steps,
acquiring the position distribution of a material preparation area and a processing area;
Respectively extracting a plurality of material preparation position points and a plurality of processing position points in the position distribution of the material preparation area and the processing area;
combining the plurality of material preparation position points and the plurality of processing position points to obtain a combination of the plurality of material preparation position points and the plurality of processing position points;
acquiring a connection structure of a mechanical joint group and a mechanical arm group of a robot;
for each combination of the material preparation position points and the processing position points, according to the space coordinates of the material preparation position points and the processing position points and the inverse kinematics of the connection structure of the mechanical joint group and the mechanical arm group of the robot, the rotation angle combination of the mechanical joint group corresponding to each combination of the material preparation position points and the processing position points is obtained;
acquiring and analyzing a loading and unloading instruction to obtain a starting position and a stopping position;
matching in the combination of a plurality of stock position points and processing position points according to the starting position and the ending position to obtain a combination of a target stock position point and a target processing position point and a target rotation angle combination of a corresponding mechanical joint group;
correcting the target rotation angle combination of the mechanical joint group according to the position difference between the starting position and the ending position and the target material preparation position point and the target processing position point respectively to obtain an execution rotation angle combination of the mechanical joint group from the starting position to the ending position;
And controlling the mechanical joint group of the robot to execute rotation according to the execution rotation angle combination.
The invention also discloses an intelligent control method of the multi-joint robot for loading and unloading, which comprises the following steps,
acquiring a connection structure of a mechanical joint group and a mechanical arm group of a robot;
receiving an execution rotation angle combination of the mechanical joint group;
obtaining a motion track of a workpiece clamped by the robot according to the execution rotation angle combination of the mechanical joint group;
acquiring a space model comprising a material preparation area and a processing area;
and displaying the motion trail of the workpiece in the space model.
The invention also discloses an intelligent control method of the multi-joint robot for loading and unloading, which comprises the following steps,
acquiring priorities of a plurality of robots for executing feeding and discharging tasks;
acquiring positions of a plurality of robots and corresponding connection structures of a mechanical joint group and a mechanical arm group;
receiving an execution rotation angle combination of a mechanical joint group of each robot;
obtaining a motion track of a workpiece clamped by each robot according to the execution rotation angle combination of the mechanical joint group of each robot;
judging whether the motion trail of the workpiece clamped between each two robots is crossed or not;
if yes, the method is carried out according to the priority of carrying out the loading and unloading tasks;
If not, the processing is not performed.
The invention also discloses an intelligent control system of the multi-joint robot for loading and unloading, which comprises,
the rotation control unit is used for acquiring the position distribution of the material preparation area and the processing area;
respectively extracting a plurality of material preparation position points and a plurality of processing position points in the position distribution of the material preparation area and the processing area;
combining the plurality of material preparation position points and the plurality of processing position points to obtain a combination of the plurality of material preparation position points and the plurality of processing position points;
acquiring a connection structure of a mechanical joint group and a mechanical arm group of a robot;
for each combination of the material preparation position points and the processing position points, according to the space coordinates of the material preparation position points and the processing position points and the inverse kinematics of the connection structure of the mechanical joint group and the mechanical arm group of the robot, the rotation angle combination of the mechanical joint group corresponding to each combination of the material preparation position points and the processing position points is obtained;
acquiring and analyzing a loading and unloading instruction to obtain a starting position and a stopping position;
matching in the combination of a plurality of stock position points and processing position points according to the starting position and the ending position to obtain a combination of a target stock position point and a target processing position point and a target rotation angle combination of a corresponding mechanical joint group;
Correcting the target rotation angle combination of the mechanical joint group according to the position difference between the starting position and the ending position and the target material preparation position point and the target processing position point respectively to obtain an execution rotation angle combination of the mechanical joint group from the starting position to the ending position;
controlling a mechanical joint group of the robot to execute rotation according to the execution rotation angle combination;
the display unit is used for acquiring the connection structure of the mechanical joint group and the mechanical arm group of the robot;
receiving an execution rotation angle combination of the mechanical joint group;
obtaining a motion track of a workpiece clamped by the robot according to the execution rotation angle combination of the mechanical joint group;
acquiring a space model comprising a material preparation area and a processing area;
displaying the motion trail of the workpiece in a space model;
the obstacle avoidance unit is used for acquiring priorities of the plurality of robots for executing feeding and discharging tasks;
acquiring positions of a plurality of robots and corresponding connection structures of a mechanical joint group and a mechanical arm group;
receiving an execution rotation angle combination of a mechanical joint group of each robot;
obtaining a motion track of a workpiece clamped by each robot according to the execution rotation angle combination of the mechanical joint group of each robot;
Judging whether the motion trail of the workpiece clamped between each two robots is crossed or not;
if yes, the method is carried out according to the priority of carrying out the loading and unloading tasks;
if not, the processing is not performed.
According to the invention, the robot carrying conditions of a plurality of position points of the material preparation area and the processing area are simulated to obtain the rotation angle combination of the mechanical joint group corresponding to the combination of each material preparation position point and each processing position point. Based on the method, the position difference between the starting position and the target stock position point and the position difference between the target processing position point and the final position are solved by relatively simple inverse kinematics solution, so that the correction of the target rotation angle combination of the mechanical joint group is realized, and the execution rotation angle combination of each mechanical joint of the control robot is quickly obtained. In the process, the loading and unloading transportation at any position of the material preparation area and the processing area can be controlled rapidly and timely, and the response speed and the flexibility of the loading and unloading robot are considered.
Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of functional modules and information flow of an embodiment of an intelligent control system of a multi-joint robot for loading and unloading according to the present invention;
FIG. 2 is a schematic diagram of a rotation control unit according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a display unit according to an embodiment of the invention;
FIG. 4 is a schematic diagram of an obstacle avoidance unit according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of step S2 according to an embodiment of the invention;
FIG. 6 is a diagram illustrating the step S7 according to an embodiment of the invention;
FIG. 7 is a diagram illustrating step S73 according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating step S74 according to an embodiment of the present invention;
FIG. 9 is a diagram illustrating the step S8 according to an embodiment of the present invention;
in the drawings, the list of components represented by the various numbers is as follows:
1-rotation control unit, 2-display unit, 3-obstacle avoidance unit.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like herein are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
A multi-joint robot is a robotic system having multiple joints or movable connections. Each joint may be controlled by means of motors, hydraulic or pneumatic systems, etc., enabling the robot to move and operate in multiple degrees of freedom. Multi-joint robots are widely used in various applications in industrial automation, assembly lines, manufacturing, medical fields, etc.
The joints of the multi-joint robot may be rotary joints or revolute joints, and the robot may implement complex motions and operations in three-dimensional space by controlling the motions of the respective joints. The range of motion and constraints for each joint will vary depending on the design and application requirements of the particular robotic system.
During processing and transportation, loading refers to placing materials or parts into a feed location of a production line or machine for subsequent processing, assembly, or handling. The loading may include placing the material onto a conveyor, loading into trays or containers, or placing parts into a feed throat of the machine. Blanking (Unloading) refers to the removal of processed or processed materials or parts from a production line or machine for subsequent packaging, inspection, transportation or other processing. Blanking may include removing parts from the conveyor, removing finished products from the discharge port of the machine, or unloading products into trays or containers.
The purpose of loading and unloading is to ensure continuous operation and efficient production of the production line. In automated production, loading and unloading are typically accomplished by mechanical devices, robots, or automated conveying systems to improve production efficiency, reduce labor costs, and reduce human error. The high efficiency of loading and unloading has important influence on the normal operation of the production line and the product quality. In order to improve the flexibility and response speed of the robot in the feeding and discharging process, the invention provides the following scheme.
Referring to fig. 1 to 4, the present invention provides an intelligent control system of a multi-joint robot for loading and unloading, which may include a rotation control unit 1, a display unit 2 and an obstacle avoidance unit 3 from functional modules. The rotation control unit 1 is used for controlling the mechanical joint of the robot to rotate and plays a role in loading and unloading conveying control. The display unit 2 is used for visually displaying the motion trail of the robot in the feeding and discharging process to an operator, and the obstacle avoidance unit 3 can avoid collision of a plurality of robots in the feeding and discharging process.
In the implementation of the present embodiment, step S1 may be performed by the rotation control unit 1 to obtain the position distribution of the stock preparation area and the processing area, which are usually already determined in the process of planning the production line. Step S2 may then be performed to extract a plurality of stock location points and a plurality of machining location points, typically planned location points, in the location distribution of the stock area and the machining area, respectively, but also possible location points where the workpieces are often stacked. Step S3 may be performed to combine the plurality of stock location points and the plurality of processing location points to obtain a combination of the plurality of stock location points and the plurality of processing location points. Thus, possible position points in the actual blanking process can be covered as much as possible.
Step S4 may be performed next to obtain a connection structure of the mechanical joint group and the mechanical arm group of the robot. Step S5 may be performed to obtain, for each combination of the stock position points and the processing position points, a rotation angle combination of the mechanical joint group corresponding to the combination of the stock position points and the processing position points according to the spatial coordinates of the stock position points and the processing position points and the inverse kinematics of the connection structure of the mechanical joint group and the mechanical arm group of the robot.
The process of inverse kinematics solution can be summarized as the following steps:
determining the target position and posture: the target position and pose to be reached by the end effector (e.g., the end of a robotic arm) is determined as needed. This is usually given in terms of coordinates and directions or euler angles in three dimensions.
The inverse kinematics method is selected: according to the structure and joint type of the robot, a proper inverse kinematics solution is selected. Different robots may require different methods and algorithms.
Establishing an inverse kinematics model: and establishing an inverse kinematics model of the robot based on the geometric features and the kinematics parameters of the robot. This includes determining the rotational axes of the individual joints, the connection relationship between the joints, the range of motion, etc.
Solving joint variables: and solving joint variables, namely the positions and angles of the joints according to the inverse kinematics model and the target position posture. This may be done by means of analytical solutions, numerical iterations or optimization algorithms, etc.
And (3) verifying a solution result: and applying the joint variable obtained by solving to a robot, and observing whether the end effector can reach the target position and posture. If the result does not meet the requirement, adjustment and optimization can be performed, and the solution can be performed again.
In the process of executing the loading and unloading tasks by the robot, step S6 can be executed to acquire and analyze loading and unloading instructions to obtain a starting position and an ending position. Step S7 may be performed to match the starting position and the ending position among the combinations of the plurality of stock location points and the processing location points to obtain a combination of the target stock location point and the target processing location point and a target rotation angle combination of the corresponding mechanical joint group. Step S8 may be performed to correct the target rotation angle combination of the mechanical joint group according to the position differences between the start position and the end position and the target stock position point and the target machining position point, respectively, to obtain the execution rotation angle combination of the mechanical joint group from the start position to the end position. Finally, step S9 may be performed to control the mechanical joint group of the robot to perform rotation according to the performed rotation angle combination.
In order to intuitively demonstrate the motion trail of the robot, the display unit 2 may execute step S011 to obtain a connection structure of the mechanical joint group and the mechanical arm group of the robot. Step S012 may be performed next to receive the execution rotation angle combination of the mechanical joint group. Step S013 may be performed next to obtain a motion trajectory of the workpiece clamped by the robot according to the combination of the execution rotation angles of the mechanical joint groups. The step of generating the motion trail is as follows:
determining a clamping point: and determining the position and mode of the robot for clamping the workpiece according to the geometric shape and clamping requirement of the workpiece. This may involve the design of the robotic end effector and the selection of the gripper.
Determining an execution rotation angle combination of the mechanical joint group: and determining the execution rotation angle combination of each joint of the mechanical joint group according to the movement track requirement of the clamped workpiece. This may require consideration of the movement path of the workpiece, the change in posture, and the movement of the gripping point.
Motion planning: and calculating the motion trail of the joint by using inverse kinematics calculation or other motion planning algorithms according to the determined joint angle combination. This may include planning parameters such as the velocity, acceleration and time of movement of the joint.
Controlling the robot to move: and applying the joint track obtained by the motion planning to a control system of the robot, and controlling each joint to move according to the calculated angle combination. This may be achieved by the controller sending appropriate control signals.
Motion trail of clamping workpiece: according to the movement of the mechanical joint and the position of the clamping point, the movement track of the clamping workpiece can be calculated. This can be determined by the kinematic model of the robot and the design of the gripper.
Step S014 may then be performed to acquire a spatial model including the stock region and the processing region, and step S015 may then be performed to display the motion trajectory of the workpiece in the spatial model.
In order to avoid collision of multiple robots during loading and unloading, step S021 may be executed by the obstacle avoidance unit 3 to obtain priorities of the multiple robots for loading and unloading tasks, which is usually a design sequence of loading and unloading. Step S022 may be performed next to acquire positions of the plurality of robots and connection structures of the corresponding mechanical joint group and the mechanical arm group. Step S023 may be performed next to receive the execution rotation angle combinations of the mechanical joint groups of each robot. Next, step S024 may be performed to obtain a motion track of the workpiece clamped by each robot according to the combination of the execution rotation angles of the mechanical joint groups of each robot, which is already mentioned in the above step and will not be described herein. Next, step S025 may be performed to determine whether there is a crossover in the motion trajectories of the workpiece held between each robot. If yes, step S026 may be executed sequentially according to the priority of executing the loading and unloading tasks. If otherwise, step S027 may be performed next without processing, where not processing means not performing prioritization, not being completely unresponsive.
Referring to fig. 5, in order to cover more actual working conditions at the stock location point and the processing location point, step S21 may be performed for multiple times to obtain the placement positions of the workpiece in the stock area and the processing area in the specific implementation process. Step S22 may be performed to gridde the stock area and the processing area, where the grids are divided into uniform divisions, i.e. the area of each grid is the same. Step S23 may be performed next to acquire the number of times of placement of the workpiece within each grid. Step S24 may be performed next to take the ratio of the number of times of placement of the workpiece within the grid as the use coefficient of each grid. Step S25 may be performed next to obtain the total number of designs of the stock location points and the processing location points. Step S26 may be performed to obtain the numbers of the stock location points and the processing location points corresponding to each grid of the stock area and the processing area, respectively, by proportionally distributing the total number of designs of the stock location points and the processing location points according to the usage coefficient of each grid. Finally, step S27 may be executed to perform uniform extraction according to the number of the stock location points and the processing location points corresponding to each grid, so as to obtain spatial coordinates of the stock location points and the processing location points in the stock area and the processing area, where the uniform extraction may be the same interval distance. The density of the frequently used position material preparation position points and the processing position points can be higher through the steps.
To supplement the above-described implementation procedures of step S21 to step S29, source codes of part of the functional modules are provided, and a comparison explanation is made in the annotation section. In order to avoid data leakage involving trade secrets, a desensitization process is performed on portions of the data that do not affect implementation of the scheme, as follows.
A location data structure and a grid class are defined to store information about each grid. Grid management is performed using GridManager classes, including adding placement information, calculating usage coefficients, assigning location points, and generating location point coordinates. Two GridManager objects are created in the main function, representing stock areas and process areas, respectively, and showing how the position assignments are handled. The actual position point coordinates are generated through the random numbers, so that the randomness and uniformity of distribution are ensured.
The main function of the code is to simulate the allocation of a specific number of stock location points and machining location points in one stock area and machining area. The area is first gridded by recording the number of times of placement of the work, and the use coefficient of each grid is calculated. The total number of location points is then assigned according to these coefficients, ensuring that more frequently used grids get more location points. And finally, uniformly and randomly generating coordinates of the position points in each grid. This process simulates a point of use based location allocation strategy, which can also be used for plant layout design or similar logistical optimization issues.
Referring to fig. 6, since the robot rotation control between two points far away from each other needs to perform complex calculation, the calculation can be performed in advance and invoked in the subsequent use, which requires to fully calculate the combination of the position point of the standby material and the position point of the processing to be selected and the target rotation angle combination of the corresponding mechanical joint group in advance. Specifically, in the implementation process of step S7, step S71 may be executed first to obtain a plurality of stock location points and a plurality of processing location points, where the start position and the end position are adjacent, as the stock location point to be selected and the processing location point to be selected, respectively. Step S72 may be performed to combine the plurality of standby material preparation location points and the plurality of standby processing location points to obtain a combination of a plurality of standby material preparation location points and standby processing location points. Step S73 may be performed to search and match the rotation angle combinations of the mechanical joint groups corresponding to the combinations of the stock position points and the processing position points to obtain the rotation angle combinations to be selected of the mechanical joint groups corresponding to the combinations of the stock position points to be selected and the processing position points to be selected. Step S74 may be performed to obtain a rotation error arrangement sequence of the combination of the candidate rotation angles of each mechanical joint group according to the connection structure of the mechanical joint group and the mechanical arm group of the robot. And finally, step S75 may be executed to select, according to the rotation error arrangement sequence of the combination of the rotation angles to be selected, a combination of the position point to be selected and the position point to be processed, which correspond to the combination of the rotation angles to be selected with the lowest rotation error, as a combination of the position point to be selected and the position point to be processed, and obtain a combination of the rotation angles to be processed, which correspond to the mechanical joint group.
To supplement the above-described implementation procedures of step S71 to step S75, source codes of part of the functional modules are provided, and a comparison explanation is made in the annotation section. In order to avoid data leakage involving trade secrets, a desensitization process is performed on portions of the data that do not affect implementation of the scheme, as follows.
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This procedure first defines the data structure of Position (Position) and rotation angle (rotations). The calcualattedistance function is used to calculate the distance between two location points. The generateRandom angles function is used to generate a random rotation angle combination of the mechanical joint and corresponding error values.
The matchBestMaterialAndProcessPoints function is a kernel function, which performs the following steps: distances are calculated for all stock location points and starting locations, and the nearest few stock location points are selected. Distances are calculated for all machining location points and end locations and the nearest few machining location points are selected. The stock location points and the processing location points are combined and a random combination of angles of rotation is generated for each pair of combinations. And finding out the combination with the minimum rotation error from the generated rotation angle combination, and returning to the corresponding combination of the stock position point and the processing position point.
The main function sets some example location points and start/end positions, calls the matchBestMaterialAndProcessPoints function to find the best location point combination, and outputs the result.
Referring to fig. 7, the number of combinations of the stock location point and the processing location point may be numerous. In order to improve the efficiency of search matching and shorten the delay of the robot control response, step S73 may be executed in the specific implementation process, where step S731 is firstly executed to obtain, for each combination of the stock location point and the processing location point, the sum of the numbers of all the stock location points and the processing location points in the grid where the stock location point and the processing location point are located as the ranking index of the combination of the stock location point and the processing location point. Step S732 may then be performed to rank each combination of stock location points and process location points from first to second according to the corresponding rank index value to obtain an initial search rank for each combination of stock location points and process location points. Step S733 may be performed next to continuously acquire the selected number of times each combination of stock position points and machining position points is retrieved and matched as a combination of stock position points to be selected and machining position points to be selected. Finally, step S734 may be executed to accumulate the selected times to the corresponding ranking indexes, and update the search ranks of the combinations of each stock location point and the processing location point according to the accumulated ranking indexes.
To supplement the above-described implementation procedures of steps S731 to S734, source codes of part of the functional modules are provided, and a comparison explanation is made in the annotation section. In order to avoid data leakage involving trade secrets, a desensitization process is performed on portions of the data that do not affect implementation of the scheme, as follows.
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In the code running process, position and Position combination structures are defined to store Position information and ordering indexes. The ranking index for each position point combination is then calculated using an updateIndex function, and the combination is ranked according to the ranking index using std: sort and a custom compare function compacteByIndex. Next, the update of the selected times is simulated, and then the ranking is updated again according to the ranking index and the selected times.
In practice, these position point combinations will be used to determine the stock position point and the machining position point, and the physical positioning of these positions is achieved by the combination of the angles of rotation of the mechanical joint sets. Update and ordering logic in the code may help optimize the selection of location points, potentially improving the operating efficiency of the robotic arm.
Referring to fig. 8, since the influence of the rotation of the mechanical joints at different positions in the robot on the placement accuracy of loading and unloading is different, in order to screen out the rotation control mode of the robot with higher accuracy, step S741 may be executed first in the specific implementation process to obtain the order of connecting the mechanical joints from the fixed end to the workpiece according to the connection structure of the mechanical joint group and the mechanical arm group of the robot. Step S742 may then be performed to obtain a rotational error rate between each mechanical joint. Step S743 may then be performed to obtain the rotation angle of each mechanical joint in the candidate rotation angle combination of each mechanical joint group. Step S744 may be performed to calculate a self-rotation error of each mechanical joint in the candidate rotation angle combination of each mechanical joint group according to the rotation error rate between each mechanical joint. Step S745 may be performed to accumulate the rotation errors of the mechanical joints at the head end in the combination of the rotation angles to be selected of each mechanical joint group to the mechanical joints at the tail end according to the order of the head-to-tail connection of the mechanical joints, so as to obtain the accumulated rotation errors of the mechanical joints at the tail end of the combination of the rotation angles to be selected of each mechanical joint group. Finally, step S746 may be executed to rank the accumulated rotation errors of the tail mechanical joints to obtain a rotation error ranking sequence corresponding to the combination of the rotation angles to be selected of each mechanical joint group.
To supplement the above-described implementation procedures of steps S741 to S746, source codes of part of the functional modules are provided, and a comparison explanation is made in the annotation section. In order to avoid data leakage involving trade secrets, a desensitization process is performed on portions of the data that do not affect implementation of the scheme, as follows.
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In the process of robot motion control, the code first defines a Joint structure to store information of the mechanical Joint, including ID, rotation angle, rotation error rate, and accumulated rotation error. The cumulative rotational error for each mechanical joint is then calculated by the updateCumulateError function. And sequencing the mechanical joints according to the accumulated error by using std, namely, sort and a custom comparison function compactibutiferror. And finally outputting sequencing information of each mechanical joint, including ID, rotation angle, rotation error rate and accumulated error.
The function of the above code may help engineers or system decision makers to know the error accumulated at each joint of the set of mechanical joints under its angle of rotation and order the joints according to this error in order to identify which joints may have a greater impact on the accuracy of the overall robotic system. This is very important for adjusting the accuracy of the robot and performing tasks.
Referring to fig. 9, since there is a position difference between the start position and the target stock position, there is a position difference between the target machining position and the end position. In order to correct the target rotation angle combination of the mechanical joint group, in the specific implementation process, step S8 may be executed first, where step S81 is executed to obtain the first stage rotation angle combination of the mechanical joint group according to the position difference from the starting position to the target stock position point and the inverse kinematics of the connection structure between the mechanical joint group and the mechanical arm group of the robot. Step S82 may be performed to obtain a second-stage rotation angle combination of the mechanical joint group according to the position difference between the target machining position point and the final position and the inverse kinematics of the connection structure between the mechanical joint group and the mechanical arm group of the robot.
Step S83 may then be performed to obtain an execution rotation angle combination of the mechanical joint group from the start position to the end position based on the first-stage rotation angle combination, the target rotation angle combination, and the second-stage rotation angle combination of the mechanical joint group. Specifically, the rotation angle of each mechanical joint in the first-stage rotation angle combination, the target rotation angle combination and the second-stage rotation angle combination is accumulated, so that the execution rotation angle of each mechanical joint is obtained as the execution rotation angle combination of the mechanical joint group from the initial position to the final position.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by hardware, such as circuits or ASICs (application specific integrated circuits, application Specific Integrated Circuit), which perform the corresponding functions or acts, or combinations of hardware and software, such as firmware, etc.
Although the invention is described herein in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.
The embodiments of the present application have been described above, the foregoing description is exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. An intelligent control method of a multi-joint robot for loading and unloading is characterized by comprising the following steps of,
acquiring the position distribution of a material preparation area and a processing area;
respectively extracting a plurality of material preparation position points and a plurality of processing position points in the position distribution of the material preparation area and the processing area;
combining the plurality of material preparation position points and the plurality of processing position points to obtain a combination of the plurality of material preparation position points and the plurality of processing position points;
acquiring a connection structure of a mechanical joint group and a mechanical arm group of a robot;
for each combination of the material preparation position points and the processing position points, according to the space coordinates of the material preparation position points and the processing position points and the inverse kinematics of the connection structure of the mechanical joint group and the mechanical arm group of the robot, the rotation angle combination of the mechanical joint group corresponding to each combination of the material preparation position points and the processing position points is obtained;
Acquiring and analyzing a loading and unloading instruction to obtain a starting position and a stopping position;
matching in the combination of a plurality of stock position points and processing position points according to the starting position and the ending position to obtain a combination of a target stock position point and a target processing position point and a target rotation angle combination of a corresponding mechanical joint group;
correcting the target rotation angle combination of the mechanical joint group according to the position difference between the starting position and the ending position and the target material preparation position point and the target processing position point respectively to obtain an execution rotation angle combination of the mechanical joint group from the starting position to the ending position;
and controlling the mechanical joint group of the robot to execute rotation according to the execution rotation angle combination.
2. The method of claim 1, wherein the step of extracting a plurality of stock location points and a plurality of processing location points in the location distribution of the stock area and the processing area, respectively, comprises,
the placing positions of the workpiece in the material preparation area and the processing area are obtained for multiple times;
gridding the material preparation area and the processing area;
acquiring the placement times of the workpieces in each grid;
Taking the ratio of the times of placing the workpieces in the grids as the use coefficient of each grid;
obtaining the total design quantity of the material preparation position points and the processing position points;
the total design quantity of the material preparation position points and the processing position points is proportionally distributed according to the use coefficient of each grid to obtain the quantity of the material preparation position points and the processing position points respectively corresponding to each grid of the material preparation area and the processing area;
and uniformly extracting according to the number of the material preparation position points and the processing position points corresponding to each grid respectively to obtain space coordinates of the material preparation position points and the processing position points in the material preparation area and the processing area.
3. The method according to claim 1 or 2, wherein the step of matching from the start position and the end position among a plurality of combinations of stock position points and processing position points to obtain a combination of target stock position points and target processing position points and a target rotation angle combination of a corresponding set of mechanical joints comprises,
respectively acquiring a plurality of material preparation position points and a plurality of processing position points which are adjacent to the starting position and the ending position as material preparation position points to be selected and processing position points to be selected;
Combining the plurality of to-be-selected material preparation position points and the plurality of to-be-selected processing position points to obtain a combination of a plurality of to-be-selected material preparation position points and to-be-selected processing position points;
searching and matching in the rotation angle combination of the mechanical joint group corresponding to the combination of each material preparation position point and the processing position point to obtain the rotation angle combination to be selected of the mechanical joint group corresponding to the combination of each material preparation position point to be selected and the processing position point to be selected;
obtaining a rotation error arrangement sequence of a to-be-selected rotation angle combination of each mechanical joint group according to the connection structure of the mechanical joint group and the mechanical arm group of the robot;
and selecting a combination of a to-be-selected material preparation position point and a to-be-selected processing position point corresponding to the to-be-selected rotation angle combination with the lowest rotation error as a combination of a target material preparation position point and a target processing position point according to the rotation error arrangement sequence of the to-be-selected rotation angle combination, and obtaining a target rotation angle combination of a corresponding mechanical joint group.
4. The method of claim 3, wherein the step of performing search matching in the rotation angle combinations of the mechanical joint groups corresponding to each combination of the stock position point and the processing position point to obtain the candidate rotation angle combinations of the mechanical joint groups corresponding to each combination of the stock position point to be selected and the processing position point to be selected comprises,
For each combination of the stock position points and the processing position points, obtaining the sum of the numbers of all the stock position points and the processing position points in the grid where the stock position points and the processing position points are located as a sequencing index of the combination of the stock position points and the processing position points;
sorting the combination of each stock position point and each processing position point from first to second according to the corresponding sorting index value to obtain an initial retrieval sorting of the combination of each stock position point and each processing position point;
continuously acquiring the selected times of the combination of each stock position point and the processing position point which are searched and matched into the combination of the stock position point to be selected and the processing position point to be selected;
and accumulating the selected times to the corresponding sorting indexes, and updating the search sorting of each combination of the stock position point and the processing position point according to the accumulated sorting indexes.
5. The method of claim 3, wherein the step of obtaining a rotation error arrangement sequence of the combination of the rotation angles to be selected for each mechanical joint group according to the connection structure of the mechanical joint group and the mechanical arm group of the robot comprises,
obtaining the head-tail connection sequence of the mechanical joints from the fixed end to the workpiece according to the connection structure of the mechanical joint group and the mechanical arm group of the robot;
Acquiring a rotation error rate between each mechanical joint;
acquiring the rotation angle of each mechanical joint in the to-be-selected rotation angle combination of each mechanical joint group;
calculating the self rotation error of each mechanical joint in the to-be-selected rotation angle combination of each mechanical joint group according to the rotation error rate between each mechanical joint;
according to the head-to-tail connection sequence of the mechanical joints, the self rotation errors of the mechanical joints at the head end in the to-be-selected rotation angle combination of each mechanical joint group are accumulated to the mechanical joints at the tail end, so that the accumulated rotation errors of the mechanical joints at the tail end of the to-be-selected rotation angle combination of each mechanical joint group are obtained;
ranking according to the accumulated rotation errors of the tail mechanical joints to obtain a rotation error arrangement sequence of the combination of the rotation angles to be selected corresponding to each mechanical joint group.
6. The method of claim 1, wherein the step of correcting the target rotation angle combination of the mechanical joint group based on the position differences between the start position and the end position and the target stock position point and the target processing position point, respectively, to obtain the execution rotation angle combination of the mechanical joint group from the start position to the end position, comprises,
According to the position difference from the initial position to the target material preparation position point and the inverse kinematics of the connection structure of the mechanical joint group and the mechanical arm group of the robot, a first-stage rotation angle combination of the mechanical joint group is obtained;
obtaining a second-stage rotation angle combination of the mechanical joint group according to the position difference from the target processing position point to the end position and the inverse kinematics calculation of the connection structure of the mechanical joint group and the mechanical arm group of the robot;
and obtaining the execution rotation angle combination of the mechanical joint group from the starting position to the ending position according to the first-stage rotation angle combination, the target rotation angle combination and the second-stage rotation angle combination of the mechanical joint group.
7. The method of claim 6, wherein the step of obtaining the execution rotation angle combination of the mechanical joint group from the start position to the end position from the first stage rotation angle combination, the target rotation angle combination, and the second stage rotation angle combination of the mechanical joint group comprises,
and accumulating the rotation angle of each mechanical joint in the first-stage rotation angle combination, the target rotation angle combination and the second-stage rotation angle combination to obtain the execution rotation angle of each mechanical joint as the execution rotation angle combination of the mechanical joint group from the starting position to the ending position.
8. An intelligent control method of a multi-joint robot for loading and unloading is characterized by comprising the following steps of,
acquiring a connection structure of a mechanical joint group and a mechanical arm group of a robot;
receiving the execution rotation angle combination of the mechanical joint group in the intelligent control method of the multi-joint robot for loading and unloading according to any one of claims 1 to 7;
obtaining a motion track of a workpiece clamped by the robot according to the execution rotation angle combination of the mechanical joint group;
acquiring a space model comprising a material preparation area and a processing area;
and displaying the motion trail of the workpiece in the space model.
9. An intelligent control method of a multi-joint robot for loading and unloading is characterized by comprising the following steps of,
acquiring priorities of a plurality of robots for executing feeding and discharging tasks;
acquiring positions of a plurality of robots and corresponding connection structures of a mechanical joint group and a mechanical arm group;
receiving the execution rotation angle combination of the mechanical joint group of each robot in the intelligent control method of the multi-joint robot for feeding and discharging according to any one of claims 1 to 7;
obtaining a motion track of a workpiece clamped by each robot according to the execution rotation angle combination of the mechanical joint group of each robot;
Judging whether the motion trail of the workpiece clamped between each two robots is crossed or not;
if yes, the method is carried out according to the priority of carrying out the loading and unloading tasks;
if not, the processing is not performed.
10. An intelligent control system of a multi-joint robot for loading and unloading is characterized by comprising,
the rotation control unit is used for acquiring the position distribution of the material preparation area and the processing area;
respectively extracting a plurality of material preparation position points and a plurality of processing position points in the position distribution of the material preparation area and the processing area;
combining the plurality of material preparation position points and the plurality of processing position points to obtain a combination of the plurality of material preparation position points and the plurality of processing position points;
acquiring a connection structure of a mechanical joint group and a mechanical arm group of a robot;
for each combination of the material preparation position points and the processing position points, according to the space coordinates of the material preparation position points and the processing position points and the inverse kinematics of the connection structure of the mechanical joint group and the mechanical arm group of the robot, the rotation angle combination of the mechanical joint group corresponding to each combination of the material preparation position points and the processing position points is obtained;
acquiring and analyzing a loading and unloading instruction to obtain a starting position and a stopping position;
matching in the combination of a plurality of stock position points and processing position points according to the starting position and the ending position to obtain a combination of a target stock position point and a target processing position point and a target rotation angle combination of a corresponding mechanical joint group;
Correcting the target rotation angle combination of the mechanical joint group according to the position difference between the starting position and the ending position and the target material preparation position point and the target processing position point respectively to obtain an execution rotation angle combination of the mechanical joint group from the starting position to the ending position;
controlling a mechanical joint group of the robot to execute rotation according to the execution rotation angle combination;
the display unit is used for acquiring the connection structure of the mechanical joint group and the mechanical arm group of the robot;
receiving an execution rotation angle combination of the mechanical joint group;
obtaining a motion track of a workpiece clamped by the robot according to the execution rotation angle combination of the mechanical joint group;
acquiring a space model comprising a material preparation area and a processing area;
displaying the motion trail of the workpiece in a space model;
the obstacle avoidance unit is used for acquiring priorities of the plurality of robots for executing feeding and discharging tasks;
acquiring positions of a plurality of robots and corresponding connection structures of a mechanical joint group and a mechanical arm group;
receiving an execution rotation angle combination of a mechanical joint group of each robot;
obtaining a motion track of a workpiece clamped by each robot according to the execution rotation angle combination of the mechanical joint group of each robot;
Judging whether the motion trail of the workpiece clamped between each two robots is crossed or not;
if yes, the method is carried out according to the priority of carrying out the loading and unloading tasks;
if not, the processing is not performed.
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